Change auxiliary arguments of bullet load_robot_description

Author: Danfoa

robot_descriptions/loaders/pybullet.py

@@ -25,20 +25,21 @@
 import pybullet
 
 
-def load_robot_description(description_name: str,
-                           basePosition=(0, 0, 0), baseOrientation=(0, 0, 0, 1), flags=-1,
-                           useFixedBase=0, physicsClientId=0, commit=None) -> int:
+def load_robot_description(
+    description_name: str, commit=None, **kwargs
+) -> int:
     """
     Load a robot description in PyBullet.
 
     Args:
         description_name: Name of the robot description.
-        basePosition: 3D position of the base of the robot in world coordinates.
-        baseOrientation: orientation in quaternion (xyzw) of the base of the robot in world coordinates.
-        flags: int flags for the URDF loading in pybullet.
-        useFixedBase: boolean indicating use a fix joint between world and robot base.
-        physicsClientId: int indicating the pybullet client id.
         commit: If specified, check out that commit from the cloned robot description repository.
+        kwargs: arguments passed to pybullet.loadURDF function, including:
+            basePosition: 3D position of the base of the robot in world coordinates.
+            baseOrientation: orientation in quaternion (xyzw) of the base of the robot in world coordinates.
+            flags: int flags for the URDF loading in pybullet.
+            useFixedBase: boolean indicating use a fix joint between world and robot base.
+            physicsClientId: int indicating the pybullet client id.
 
     Returns:
         Integer identifier of the robot in PyBullet.
@@ -50,7 +51,5 @@ def load_robot_description(description_name: str,
         raise ValueError(f"{description_name} is not a URDF description")
 
     pybullet.setAdditionalSearchPath(module.PACKAGE_PATH)
-    robot = pybullet.loadURDF(module.URDF_PATH,
-                              basePosition=basePosition, baseOrientation=baseOrientation, flags=flags,
-                              useFixedBase=useFixedBase, physicsClientId=physicsClientId)
+    robot = pybullet.loadURDF(module.URDF_PATH, **kwargs)
     return robot